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Jiali Duan authored
Summary: 1. A Fisheye camera model that generalizes pinhole camera by considering distortions (i.e. radial, tangential and thin-prism distortions). 2. Added tests against perspective cameras when distortions are off and Aria data points when distortions are on. 3. Address comments to test unhandled shapes between points and transforms. Added tests for __FIELDS, shape broadcasts, cuda etc. 4. Address earlier comments for code efficiency (e.g., adopted torch.norm; torch.solve for matrix inverse; removed inplace operations; unnecessary clone; expand in place of repeat etc). Reviewed By: jcjohnson Differential Revision: D38407094 fbshipit-source-id: a3ab48c85c496ac87af692d5d461bb3fc2a2db13
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